Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer

doi:10.1007/s11424-022-1498-5

Journal of Systems Science and Complexity ›› 2022, Vol. 35 ›› Issue (2): 604-622.DOI: 10.1007/s11424-022-1498-5

Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer

ZHAO Qin¹, DUAN Guang-Ren^1,2

1. Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen 518055, China;
2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China

Received:2021-12-16 Revised:2022-01-11 Published:2022-04-13
Supported by:
This research was partially supported by the Science Center Program of the National Natural Science Foundation of China under Grant No. 62188101, and the Major Program of the National Natural Science Foundation of China under Grant Nos. 61690210 and 61690212, the National Natural Science Foundation of China under Grant Nos. 62103164 and 61703437.

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ZHAO Qin, DUAN Guang-Ren. Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer[J]. Journal of Systems Science and Complexity, 2022, 35(2): 604-622.

This paper deals with the problem of position and attitude tracking control for a rigid spacecraft. A fully actuated system (FAS) model for the six degree-of-freedom (6DOF) spacecraft motion is derived first from the state-space model by variable elimination. Considering the uncertainties from external disturbance, unknown motion information, and uncertain inertia properties, an extended state observer (ESO) is designed to estimate the total disturbance. Then, a tracking controller based on FAS approach is designed, and this makes the closed-loop system a constant linear one with an arbitrarily assignable eigenstructure. The solution to the parameter matrices of the observer and controller is given subsequently. It is proved via the Lyapunov stability theory that the observer errors and tracking errors both converge into the neighborhood of the origin. Finally, numerical simulation demonstrates the effectiveness of the proposed controller.

Key words: Constant linear closed-loop system, extended state observer, fully actuated system approach, relative position and attitude control

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